by: david gitz, ee, robo-chopper lead engineer. system description capabilities and applications ...
TRANSCRIPT
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By: David Gitz, EE, Robo-Chopper Lead Engineer
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System DescriptionCapabilities and Applications
Development ProgressRequest
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Quad-Rotor design – Offers simpler control system with less moving parts than a normal helicopter and minor reduction in lift capacity
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Primary Controller
Compass DriverCompass
Gyroscope
Accelerometer
INU
Main Program:Mission PlannerMode Selection
Object Avoidance
GPS
Auto/Manual Commands
Secondary Controller
Main Program
Motor Commands > Motor Output Mapping
ESC (4) Motor (4)
Status Indicator
Throttle CommandAngle Command:Yaw, Pitch, Roll
Φ: Y,P,R
D: 1-5
Encoder (4)
Ultrasonic (5)
TTY TTY TTY
DO
Pulse
ECCP
PWM
V+
Ω:1-4
Radio
TTY
Altimeter Altimeter Driver
γ:Y
Displacement: R:x,y,z
Angle: Ωγ:P,R
Altitude
Compass
Gyroscope
Accelerometer
Compass Driver
Secondary-INUKalman Filter(2-Axis Tilt)
Free-Fall Control
Encoder Driver
Ultrasonic Driver
ω:1-4
D:1-5
φ:Y
φ:P,R
Zero-G Indicator
2 “Brains”, 1 SoM Board and 1 Parallax Propeller
SoM handles waypoint navigation, mission planning, vehicle health.
Propeller handles PWM generation, Kalman Filter.
In the event of an in-air mishap, Propeller Controller can take over Vehicle land safely.
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Custom PCB inside Xbox-360 Controller
Features Mode and Error Display, Vehicle Battery Indicator, Force-Feedback and 5 hours of continuous operation.
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Used for Vehicle Calibration and Capacity measurements
Able to Pivot vertically and rotate continuously
Power applied to Vehicle via Slip-Ring – No tangled wires
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GCS offers extended range – up to 3 km
Interface designed in LabView
With Internet connection, Google Earth integration
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Vehicle
RCUGCS
Using Xbee API Mode, Vehicle, GCS and RCU all talk to each other
RCU or GCS can extend flight range of Vehicle due to API mesh network.
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Capabilities - Planned
Manual Control via RCU or GCS Simple Calibration and Testing via Test-Stand
Limited Autonomous Navigation via RCU
Error Display on RCU and GCS
Waypoint Navigation Force-Feedback on RCU
Automatic Takeoff, Hover and Landing
Vehicle Health Reporting
Capabilities - Future
Real-Time Video Transmission to GCS
Image Capture
Wireless airborne programming Advanced Hover modes
Vehicle Status Audio via RCU Extended System Duration
Configurable Payloads Terrain Following
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Industry Applications
Home Inspecting Roof and Exterior Surveying
Civil Engineering Bridge Inspection
Law Enforcement Search, Crime Scene Investigation
Military Reconnaissance
Hobbyists Development Platform – Completely Open Source
Environmental Nature Surveying and Data Collection
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Phase 5Phase 4Phase 3Phase 2
InterfaceP1GCS
Remote ControlP1RC
Test-StandP1TS
VehicleP1V
Ground StationP1GS
Testing and Validation
P1T
InterfaceP2GCS
Remote ControlP2RC
Test-StandP2TS
VehicleP2V
Testing and Validation
P2T
VehicleP3V
Testing and Validation
P3T
VehicleP4V
Testing and Validation
P4T
VehicleP5V
Testing and Validation
P5T
Phase 1
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Cost: 30% of material/part cost invested. Tasks: 23% of defined tasks completed. Currently in Phase 1 with limited
development in Phase 2.
System System Total: Un-Funded: Funded: # Tasks # Completed % Complete
RCU: $265.55 $58.96 $206.59 18 8 44%Test-Stand: $881.72 $881.72 $0.00 15 3 20%GCS: $153.75 $0.00 $153.75 12 4 33%Vehicle: $889.95 $599.65 $290.30 34 3 9%Total: $2,190.97 $1,540.33 $650.64 79 18 23%
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Need People! Computer Engineer Mechanical Engineer Project Manager Technical Writer Marketing/PR Aerospace Engineer
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Contact: [email protected] www.thesciencedude.com